JP2019040496A - Communication device - Google Patents

Abstract

To notify the other vehicle of correct unique identification information if there is an error in unique identification information registered in advance in the other vehicle.SOLUTION: A communication device 100 is comprised of: a number recognition unit 11 that recognizes a vehicle number of the other vehicle; a traveling condition recognition unit 12 that recognizes a traveling condition of the other vehicle; an identifying unit 14 that identifies communication data transmitted by the other vehicle based on the vehicle number recognized by the number recognition unit 11 or the traveling condition recognized by the traveling condition recognition unit 12; and a transmission unit 15 for transmitting the vehicle number recognized by the number recognition unit 11 to the other vehicle.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a communication device.

  For example, in Patent Document 1, a vehicle ID of another vehicle is generated based on an imaging result of an in-vehicle camera to generate a vehicle ID for the other vehicle, and the generated vehicle ID and communication data received from another vehicle by communication. Describes a communication device that determines the authenticity of communication data based on the result of comparison with the vehicle ID added to.

JP 2013-058140 A

  The vehicle ID added to the communication data is generated based on a vehicle number (unique identification information) that identifies another vehicle. For this reason, when there is an error in the vehicle number registered in the communication device, it is conceivable that an error also occurs in the vehicle ID added to the communication data, and it becomes impossible to specify the communication partner vehicle. For this reason, in this technical field, when there is an error in the unique identification information registered in advance in the other vehicle, it is desired to notify the other vehicle of the correct unique identification information.

  A communication device according to the present invention recognizes unique identification information of another vehicle based on a first detection sensor that detects unique identification information installed in other vehicles around the host vehicle, and a detection result of the first detection sensor. An identification information recognizing unit, a second detection sensor for detecting the traveling state of the other vehicle, a traveling state recognizing unit for recognizing the traveling state of the other vehicle based on the detection result of the second detection sensor, and transmission from the other vehicle A receiving unit that receives the received communication data, and a specifying unit that identifies communication data transmitted by another vehicle based on the unique identification information recognized by the identification information recognition unit or the running state recognized by the running state recognition unit; A transmission unit that transmits the unique identification information recognized by the identification information recognition unit to another vehicle, and the communication data includes unique identification information registered in advance in an identification information registration unit mounted on the other vehicle And the running state of other vehicles And when the unique identification information included in the communication data matches the unique identification information of the other vehicle recognized by the identification information recognition unit, the specifying unit recognizes the communication data having the same unique identification information as the identification information recognition. When the communication data transmitted from the other vehicle whose unique identification information is recognized by the unit and the unique identification information included in the communication data and the unique identification information of the other vehicle recognized by the identification information recognition unit do not match, Communication data in which the traveling state included in the communication data matches the traveling state of the other vehicle recognized by the traveling state recognition unit by a predetermined degree of coincidence is transmitted from the other vehicle whose traveling state is recognized by the traveling state recognition unit. When the communication data transmitted from the other vehicle is specified based on the degree of coincidence of the driving state in the specifying unit, the transmission unit identifies the communication data transmitted from the other vehicle, Transmitting the unique identification information recognized by another information recognition unit.

  Here, when the unique identification information included in the communication data does not match the unique identification information recognized by the identification information recognition unit, the unique identification information registered in advance in the identification information registration unit mounted on the other vehicle is used. This is when there is an error. For this reason, when the unique identification information does not match, the communication device specifies the communication data transmitted by the other vehicle based on the degree of coincidence of the traveling state of the other vehicle. When the communication device specifies the communication data transmitted by the other vehicle based on the traveling state, the communication device transmits the unique identification information recognized by the identification information recognition unit to the other vehicle that has transmitted the communication data. Thus, when there is an error in the unique identification information registered in advance in the other vehicle, the communication device can notify the other vehicle of the correct unique identification information.

  According to the present invention, when there is an error in the unique identification information registered in advance in the other vehicle, the correct unique identification information can be notified to the other vehicle.

It is a schematic diagram which shows the positional relationship of the vehicle by which the communication apparatus in embodiment is mounted, and the communication data transmitted / received. It is a block diagram which shows the structure of the communication apparatus in embodiment. It is a flowchart which shows the flow of the process which specifies the communication data which the preceding vehicle transmitted. It is a flowchart which shows the flow of the process which rewrites the vehicle number registered into the number registration part. It is a schematic diagram which shows the positional relationship of the vehicle in the 3rd modification, and the communication data transmitted / received. It is a block diagram which shows the structure of the communication apparatus in a 3rd modification.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.

  As shown in FIG. 1, the host vehicle X, the first other vehicle (other vehicle) X1, and the second other vehicle X2 traveling on the road can perform inter-vehicle communication between the vehicles. Here, as shown in FIG. 1, the first other vehicle X1 travels in front of the host vehicle X, and the second other vehicle X2 travels in front of the first other vehicle X1. In this case, the host vehicle X performs inter-vehicle communication with the first other vehicle X1 traveling forward. The first other vehicle X1 performs inter-vehicle communication with the second other vehicle X2 traveling forward. For example, the host vehicle X and the like can perform driving control of the vehicle using the communication result of the inter-vehicle communication.

  The own vehicle X transmits communication data D including its own information to the surroundings in order to perform inter-vehicle communication. Similarly, the first other vehicle X1 transmits communication data D1 including its own information to the surroundings. The second other vehicle X2 transmits communication data D2 including its own information to the surroundings. For example, when the own vehicle X performs inter-vehicle communication with the first other vehicle X1, inter-vehicle communication is performed based on communication data D and D1 transmitted and received between the own vehicle X and the first other vehicle X1.

  For convenience of explanation, as shown in FIG. 1, the vehicle number (unique identification information) of the license plates respectively installed at the front and rear ends of the host vehicle X is [44-55]. A communication ID used for inter-vehicle communication is ID: 778. The vehicle number of the number plate installed at the front and rear ends of the first other vehicle X1 is [01-23], and the communication ID used by the first other vehicle X1 for inter-vehicle communication is ID: 100. The vehicle number of the number plate installed at the front and rear ends of the second other vehicle X2 is [00-01], and the communication ID used by the second other vehicle X2 for inter-vehicle communication is ID: 001.

  The own vehicle X, the first other vehicle X1, and the second other vehicle X2 are each equipped with the communication device 100 shown in FIG. The communication device 100 is a device that performs vehicle-to-vehicle communication. Hereinafter, description will be given using the communication device 100 mounted on the host vehicle X.

  A communication apparatus 100 shown in FIG. 2 includes an ECU [Electronic Control Unit] 10 for performing vehicle-to-vehicle communication. The ECU 10 is an electronic control unit having a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], and the like. The ECU 10 executes various controls by loading a program stored in the ROM into the RAM and executing it by the CPU. The ECU 10 may be composed of a plurality of electronic control units.

  A camera (first detection sensor) 1, a radar sensor (second detection sensor) 2, a speed sensor 3, and a communication device 4 are connected to the ECU 10.

  The camera 1 is an imaging device that captures an area in front of the host vehicle X. The camera 1 is provided on the back side of the windshield of the host vehicle X. The camera 1 images the vehicle number of a license plate installed in a preceding vehicle (first other vehicle X1) traveling in front of the host vehicle X. The camera 1 transmits the captured image information (detection result) to the ECU 10. The preceding vehicle that travels in front of the host vehicle X is another vehicle that travels in front of the host vehicle X.

  The radar sensor 2 is a detection device that detects the traveling state of a preceding vehicle (first other vehicle X1) that travels ahead of the host vehicle X using radio waves (for example, millimeter waves) or light. The radar sensor 2 includes, for example, a millimeter wave radar or a lidar [LIDAR: Light Detection and Ranging]. The radar sensor 2 transmits radio waves or light to the front of the host vehicle X, and receives the radio waves or light reflected by the other vehicle in front to detect the traveling state of the other vehicle in front. The radar sensor 2 transmits the detected detection information (detection result) to the ECU 10.

  The speed sensor 3 is a detector that detects the speed of the host vehicle X. As the speed sensor 3, a wheel speed sensor that is provided for a wheel of the host vehicle X or a drive shaft that rotates integrally with the wheel and detects the rotational speed of the wheel is used. The speed sensor 3 transmits the detected speed information to the ECU 10.

  The communication device 4 is a device for performing inter-vehicle communication with other vehicles around the host vehicle X.

  The ECU 10 functionally includes a number recognition unit (identification information recognition unit) 11, a traveling state recognition unit 12, a reception unit 13, a specification unit 14, a transmission unit 15, a change unit 16, and a number registration unit (identification information registration unit). ) 17.

  The number recognizing unit 11 recognizes the vehicle number of the preceding vehicle (first other vehicle X1) traveling in front of the host vehicle X based on the imaging information of the camera 1. The number recognition unit 11 can recognize the vehicle number based on, for example, a well-known image recognition process.

  The traveling state recognition unit 12 recognizes the traveling state of the preceding vehicle (first other vehicle X1) traveling in front of the host vehicle X based on the detection information of the radar sensor 2. That is, the number recognizing unit 11 and the traveling state recognizing unit 12 recognize the same vehicle (first other vehicle X1). In the present embodiment, the traveling state recognition unit 12 recognizes the speed of the preceding vehicle as the traveling state. The traveling state recognition unit 12 can recognize the speed based on the detection information of the radar sensor 2 based on, for example, a known method. Further, the traveling state recognition unit 12 recognizes a change in the speed of the other vehicle based on the recognized accumulation result of the speed of the preceding vehicle.

The receiving unit 13 receives communication data (communication data D1 and D2) transmitted from other vehicles (first other vehicle X1 and second other vehicle X2) around the host vehicle X. Here, the communication data received by the receiving unit 13 includes the following (1) to (4).
(1) Communication ID of communication data transmission source
(2) Vehicle number of communication data transmission source (3) Speed of vehicle of communication data transmission source (4) Vehicle number of preceding vehicle and communication ID of preceding vehicle

  (1) The communication ID of the communication data transmission source is a communication ID used by the vehicle that transmitted the communication data in the inter-vehicle communication, and is set in advance for each vehicle. (2) The vehicle number of the communication data transmission source is a vehicle number registered in the number registration unit 17 of the vehicle that transmitted the communication data. (3) The speed of the vehicle from which the communication data is transmitted is the speed of the vehicle that has transmitted the communication data, and is the speed detected by the speed sensor 3 of the vehicle that has transmitted the communication data. (4) The vehicle number of the preceding vehicle is the vehicle number of the vehicle traveling one ahead of the vehicle that transmitted the communication data, and the vehicle of the preceding vehicle recognized by the number recognition unit 11 of the vehicle that transmitted the communication data. It is a number. In addition, (4) the communication ID of the preceding vehicle is a communication ID of the preceding vehicle that travels one ahead of the vehicle that transmitted the communication data.

For example, in the communication data D transmitted from the own vehicle X,
(1) Communication ID: 778
(2) [44-55]
(3) Speed detected by speed sensor 3 of own vehicle X (4) [01-23], communication ID: 100
Is included.

  The specifying unit 14 specifies the communication data transmitted by the preceding vehicle of the host vehicle X based on the vehicle number recognized by the number recognition unit 11 and the communication data received by the receiving unit 13. Specifically, the specifying unit 14 compares the vehicle number ((2) vehicle number of communication data transmission source) included in the communication data received by the receiving unit 13 with the vehicle number recognized by the number recognizing unit 11. To do. When there is communication data with the matching vehicle number, the specifying unit 14 transmits the communication data with the matching vehicle number from the other vehicle whose vehicle number is recognized by the number recognition unit 11 (that is, the preceding vehicle of the host vehicle X). Specified as communication data. The communication data includes a communication ID of the communication data transmission source ((1) a communication ID of the communication data transmission source). Thereby, the specific | specification part 14 of the own vehicle X can recognize the 1st other vehicle X1 which drive | works the front of the own vehicle X, and the communication data D1 which the 1st other vehicle X1 transmitted matched. That is, the identification unit 14 of the host vehicle X can identify the communication ID of the first other vehicle X1 whose vehicle number is recognized by the number recognition unit 11.

  As described above, when the communication data (communication ID) transmitted by the preceding vehicle is not specified, the specifying unit 14 uses the vehicle number of the communication data transmission source included in the communication data to transmit the communication transmitted by the preceding vehicle. Data (communication ID) is specified.

  In addition, the communication apparatus 100 of the own vehicle X can identify and acquire the communication data D1 transmitted from the first other vehicle X1 by using the identified communication ID of the first other vehicle X1. On the other hand, the first other vehicle X1 includes the communication ID ((4) vehicle number of the preceding vehicle) of itself (first other vehicle X1) in the communication data D transmitted from the own vehicle X. The communication data D transmitted by the host vehicle X traveling behind the other vehicle X1 can be specified. The communication device 100 of the first other vehicle X1 can identify and acquire the communication data D transmitted from the host vehicle X by using the identified communication ID of the host vehicle X. Thus, when the own vehicle X and the first other vehicle X1 know each other's communication ID, the own vehicle X and the first other vehicle X1 can perform inter-vehicle communication with each other.

  The transmission unit 15 uses, as communication data D, the data including (1) the communication ID of the communication data transmission source, (2) the vehicle number of the communication data transmission source, and (3) the speed of the vehicle of the communication data transmission source. It transmits to the surroundings of the own vehicle X via the communication device 4. Further, when the communication ID of the preceding vehicle (first other vehicle X1) is specified by the specifying unit 14, the transmission unit 15 (1) the communication ID of the communication data transmission source and (2) the communication data transmission source described above. In addition to the vehicle number of (3) and the speed of the communication data transmission source vehicle, (4) data including the vehicle number of the preceding vehicle and the communication ID of the preceding vehicle is transmitted as communication data D. The transmission unit 15 repeatedly transmits the communication data D at a predetermined timing, for example. As described above, (4) the vehicle number of the preceding vehicle is the vehicle number of the first other vehicle X1 recognized by the number recognition unit 11 of the host vehicle X. When the own vehicle X transmits the communication data D to the surroundings, the communication data D is received by the first other vehicle X1 and the second other vehicle X2, respectively.

  In the number registration unit 17, a vehicle number corresponding to the vehicle number of the number plate installed in the vehicle is registered in advance. The vehicle number registered in the number registration unit 17 becomes “(2) vehicle number of communication data transmission source” when the transmission unit 15 transmits the communication data D. The vehicle number is registered in advance in the number registration unit 17 at a predetermined timing such as when the communication device 100 is installed in the host vehicle X. The vehicle number registered in the number registration unit 17 is rewritten by the changing unit 16 as described later. The rewriting of the vehicle number by the changing unit 16 will be described later.

  Here, as described above, when the vehicle transmits communication data, the vehicle number registered in the number registration unit 17 of the communication device 100 mounted on each vehicle is represented by “(2) Communication data transmission source of communication data”. As the vehicle number. However, when the vehicle number is erroneously registered in the number registration unit 17, the vehicle number of the license plate installed in the vehicle may not match the vehicle number registered in the number registration unit 17. Hereinafter, the operation of each unit when the vehicle numbers do not match will be described.

  In this case, the vehicle number recognized by the number recognition unit 11 and the vehicle number included in the communication data received by the receiving unit 13 ((2) the vehicle number of the communication data transmission source) do not match. That is, there is no communication data including the vehicle number that matches the vehicle number recognized by the number recognition unit 11 in the communication data received by the reception unit 13. For this reason, the specific | specification part 14 cannot specify the communication data which the preceding vehicle transmitted. Therefore, the specification unit 14 specifies communication data transmitted by the preceding vehicle of the host vehicle X based on the traveling state of the preceding vehicle recognized by the traveling state recognition unit 12 and the communication data received by the receiving unit 13. .

  Specifically, when the vehicle number included in the communication data received by the receiving unit 13 and the vehicle number recognized by the number recognition unit 11 do not match, the specifying unit 14 includes a running state (( 3) The speed of the communication data transmission source vehicle) is compared with the traveling state of the other vehicle (that is, the preceding vehicle of the host vehicle X) recognized by the traveling state recognition unit 12. The identifying unit 14 uses the traveling state recognition unit 12 to determine communication data in which the traveling state included in the communication data matches the traveling state of the other vehicle recognized by the traveling state recognition unit 12 by a predetermined degree of coincidence. The communication data transmitted from the recognized other vehicle is specified. The fact that the traveling state matches a predetermined degree of coincidence may be, for example, that the difference between one traveling state and the other traveling state is within a predetermined range.

  Here, the specifying unit 14 uses the speed as the traveling state. The specifying unit 14 transmits the communication data to another vehicle in which the change in the speed of the other vehicle recognized by the traveling state recognition unit 12 is equal to or greater than a predetermined matching degree with respect to the change in the speed included in the communication data. Identify the vehicle. In addition, the specific | specification part 14 can recognize the change of a speed for every vehicle which transmitted communication data based on communication ID contained in communication data, for example. The fact that the change in speed is equal to or greater than a predetermined coincidence may be, for example, that the difference between the change state of one speed and the change state of the other speed is within a predetermined range. .

For example, although the vehicle number of the license plate installed in the first other vehicle X1 is [01-23], the vehicle number registered in the number registration unit 17 of the first other vehicle X1 is [01-23] due to erroneous registration. −22]. In this case, the communication data D1 transmitted from the first other vehicle X1 includes
(1) Communication ID: 100
(2) [01-22]
(3) Speed detected by speed sensor 3 of first other vehicle X1 (4) [00-01], communication ID: 001
Is included.

  In this case, the identification unit 14 of the host vehicle X does not match the vehicle number ((2) vehicle number of the communication data transmission source) included in the communication data D1 and the vehicle number recognized by the number recognition unit 11. The first other vehicle X1 that has transmitted the data D1 cannot be specified. For this reason, the specifying unit 14 of the host vehicle X has a predetermined degree of coincidence of the change in speed included in the communication data with respect to the change in speed of the preceding vehicle (first other vehicle X1) recognized by the traveling state recognition unit 12. The matching communication data is specified as the communication data D1 transmitted from the preceding vehicle recognized by the traveling state recognition unit 12. The communication data includes a communication ID of the communication data transmission source. Thereby, the specific | specification part 14 of the own vehicle X can recognize the 1st other vehicle X1 which drive | works ahead of the own vehicle X, and the communication data D1 which the 1st other vehicle X1 transmitted. That is, the identification unit 14 of the host vehicle X can identify the communication ID of the first other vehicle X1 whose vehicle number is recognized by the number recognition unit 11. Vehicle-to-vehicle communication is performed between the host vehicle X and the first other vehicle X1 using the communication ID specified in this way. As described above, when the communication data (communication ID) of the preceding vehicle is not specified, the specifying unit 14 uses the speed of the communication data transmission source vehicle included in the communication data to transmit the communication data (communication of the preceding vehicle). ID) is specified.

  When the communication data D1 transmitted from the first other vehicle X1 is specified by the specifying unit 14 based on the degree of coincidence of the driving state, the transmission unit 15 determines the number of the first other vehicle X1 that is the transmission source of the communication data D1. The vehicle number of the first other vehicle X1 recognized by the recognition unit 11 is transmitted. Specifically, the transmission unit 15 of the host vehicle X receives the communication data D including the vehicle number of the first other vehicle X1 recognized by the number recognition unit 11 ((4) the vehicle number of the preceding vehicle) of the host vehicle X. Send to the surroundings.

  By receiving the communication data D transmitted from the host vehicle X, the communication device 100 of the first other vehicle X1 is installed at the vehicle number registered in the number registration unit 17 and the rear end portion of the first other vehicle X1. You can see that the vehicle number on the license plate is different. The changing unit 16 of the first other vehicle X1 determines that the own vehicle X is the first other based on “(4) Communication ID of the preceding vehicle” included in the communication data among the communication data received by the receiving unit 13. The communication data D transmitted to the vehicle X1 is specified. That is, the changing unit 16 specifies the communication data having “(4) communication ID of the preceding vehicle” included in the communication data as the communication ID of the first other vehicle X1.

  If the change number 16 of the first other vehicle X1 is different from the vehicle number registered in the number registration unit 17 in “(4) vehicle number of the preceding vehicle” included in the specified communication data D, the change unit 16 The registered vehicle number is rewritten to “(4) Vehicle number of preceding vehicle” included in the communication data D. Thereafter, the transmission unit 15 of the first other vehicle X1 uses the rewritten vehicle number as “(2) vehicle number of communication data transmission source” of the communication data, and transmits the communication data D1 around the first other vehicle X1. To do.

  Thereby, even if the vehicle number registered in advance in the number registration unit 17 of the first other vehicle X1 is erroneously registered, the communication data D1 including the correct vehicle number of the first other vehicle X1 is transmitted.

  The above-described processing for specifying the communication data transmitted by the preceding vehicle in the specifying unit 14 and transmitting the communication data to the preceding vehicle, and rewriting when the vehicle number registered in advance in the number registration unit 17 is erroneously registered The process is executed in each of the communication devices 100 mounted on the host vehicle X, the first other vehicle X1, and the second other vehicle X2.

  Next, a flow of processing in which the specifying unit 14 of the host vehicle X specifies communication data transmitted by the preceding vehicle will be described. This process is executed at a predetermined timing, for example, when the own vehicle X starts inter-vehicle communication with the preceding vehicle in a state where the communication ID of the preceding vehicle ahead of the own vehicle X is not specified. . As shown in FIG. 3, the number recognition unit 11 recognizes the vehicle number of the preceding vehicle (first other vehicle X1) based on the imaging information of the camera 1 (S101). The traveling state recognition unit 12 recognizes the traveling state of the preceding vehicle (first other vehicle X1) based on the detection information of the radar sensor 2 (S102). The specifying unit 14 recognizes “(2) vehicle number of communication data transmission source” included in the communication data based on the communication data received by the receiving unit 13 (S103). The specifying unit 14 recognizes a change in speed for each vehicle that has transmitted the communication data based on the communication data received by the receiving unit 13 (S104).

  The identification unit 14 compares the vehicle number included in the communication data with the vehicle number recognized by the number recognition unit 11 (S105). When there is communication data with the same vehicle number (S105: YES), the specifying unit 14 specifies the communication data with the same vehicle number as the communication data D1 transmitted from the preceding vehicle (first other vehicle X1). And the specific | specification part 14 specifies communication ID of a preceding vehicle (S106). The transmission unit 15 transmits communication data D including the vehicle number of the first other vehicle X1 recognized by the number recognition unit 11 and the communication ID of the first other vehicle X1 to the surroundings of the host vehicle X (S107).

  When there is no communication data with the matching vehicle number (S105: NO), the specifying unit 14 compares the driving state included in the communication data with the driving state of the preceding vehicle recognized by the driving state recognition unit 12 (S108). . When there is communication data in which the traveling state included in the communication data matches the traveling state of the preceding vehicle recognized by the traveling state recognition unit 12 by a predetermined degree of coincidence (S108: YES), the specifying unit 14 determines the traveling state. Is identified as communication data D1 transmitted from the preceding vehicle (first other vehicle X1). And the specific | specification part 14 specifies communication ID of a preceding vehicle (S109). And the transmission part 15 performs the process of above-mentioned S107.

  When there is no communication data in which the running state included in the communication data matches the running state of the preceding vehicle recognized by the running state recognition unit 12 by a predetermined degree of coincidence (S108: NO), the communication ID of the preceding vehicle is specified. If this is not possible, the process is terminated.

  Also in the communication device 100 mounted on the first other vehicle X1 and the second other vehicle X2, the same processing as the processing executed by the communication device 100 of the host vehicle X described with reference to FIG. 3 is executed.

  Next, the flow of processing in which the changing unit 16 of the first other vehicle X1 rewrites the vehicle number registered in the number registration unit 17 will be described. In addition, this process is started when communication data are received from other vehicles other than the 1st other vehicle X1, for example. As illustrated in FIG. 4, the changing unit 16 determines whether or not “(4) the vehicle number of the preceding vehicle and the communication ID of the preceding vehicle” is included in the communication data received by the receiving unit 13. (S201). When “(4) the vehicle number of the preceding vehicle and the communication ID of the preceding vehicle” is not included in the communication data (S201: NO), the changing unit 16 ends this process.

  When the communication data includes “(4) the vehicle number of the preceding vehicle and the communication ID of the preceding vehicle” (S201: YES), the changing unit 16 selects “(4) the vehicle number of the preceding vehicle and the preceding vehicle. It is determined whether or not the “communication ID of the preceding vehicle” of the “communication ID of the vehicle” matches the communication ID used by the first other vehicle X1 in the inter-vehicle communication (S202). If the communication IDs do not match (S202: NO), the changing unit 16 ends this process.

  When the communication IDs match (S202: YES), the changing unit 16 “the vehicle of the preceding vehicle” of “(4) the vehicle number of the preceding vehicle and the communication ID of the preceding vehicle” included in the communication data with the matching communication ID. Get "number". Note that the communication data including “(4) the vehicle number of the preceding vehicle and the communication ID of the preceding vehicle” with the matching communication ID is the communication data D transmitted from the host vehicle X in the present embodiment. The changing unit 16 determines whether or not the acquired “vehicle number of the preceding vehicle” matches the vehicle number stored in the number registration unit 17 (S203). When the acquired “vehicle number of the preceding vehicle” matches the vehicle number stored in the number registration unit 17 (S203: YES), the changing unit 16 ends this process. On the other hand, when the acquired “vehicle number of the preceding vehicle” does not match the vehicle number stored in the number registration unit 17 (S203: NO), the changing unit 16 uses the vehicle number registered in the number registration unit 17 as communication data. (S204).

  Also in the communication device 100 mounted on the host vehicle X and the second other vehicle X2, the same process as the process executed by the changing unit 16 of the first other vehicle X1 described with reference to FIG. 4 is executed.

  As described above, when the vehicle number included in the communication data does not match the vehicle number recognized by the number recognition unit 11, the communication device 100 transmits the preceding vehicle based on the degree of coincidence of the traveling state of the preceding vehicle. Identify the communication data. When the communication data transmitted by the preceding vehicle based on the traveling state is specified, the transmission unit 15 transmits the vehicle number recognized by the number recognition unit 11 to the preceding vehicle that is the transmission source of the communication data. Thus, when there is an error in the vehicle number registered in advance in the number registration unit 17 of the preceding vehicle, the communication device 100 can notify the preceding vehicle of the correct vehicle number.

  Further, when there is an error in the vehicle number registered in advance in the number registration unit 17 of the preceding vehicle, the preceding vehicle rewrites the vehicle number registered in the number registration unit 17 based on the communication data transmitted from the subsequent vehicle. be able to. Thus, by correctly rewriting the vehicle number, the succeeding vehicle can early identify the communication data transmitted by the preceding vehicle.

(First modification)
A first modification of the embodiment will be described. The first modification is different from the embodiment in that the changing unit 16 rewrites the vehicle number registered in the number registering unit 17. Hereinafter, a description will be given using the changing unit 16 mounted on the host vehicle X. The changing unit 16 according to the first modified example includes the communication ID of “(4) preceding vehicle communication ID” included in the communication data among the communication data received from the plurality of other vehicles by the receiving unit 13. Specify the same communication data as. The changing unit 16 receives, based on the specified communication data, communication data including the same “(4) vehicle number of the preceding vehicle” continuously from a plurality of other vehicles within a predetermined period. In addition, the vehicle number registered in the number registration unit 17 is rewritten to “(4) the vehicle number of the preceding vehicle” continuously received. Note that the changing unit 16 is not limited to continuously receiving communication data including the same “(4) vehicle number of the preceding vehicle”, but includes communication data including the same “(4) vehicle number of the preceding vehicle”. The vehicle number may be rewritten when is received a predetermined number of times or more.

  In the present modification, the vehicle number is rewritten when the communication data including the same “(4) vehicle number of the preceding vehicle” is received a predetermined number of times or more. The number registration unit 17 can be rewritten using the number.

(Second modification)
A second modification of the embodiment will be described. The second modification differs from the embodiment in the configuration of communication data transmitted by the transmission unit 15 and the configuration in which the change unit 16 rewrites the vehicle number registered in the number registration unit 17. Hereinafter, description will be given using the changing unit 16 and the number registering unit 17 mounted on the host vehicle X. The changing unit 16 according to the second modified example uses the communication data received by the receiving unit 13 so that “(4) the communication ID of the preceding vehicle” included in the communication data is the same as the communication ID of the host vehicle X. Identify. If the specified communication data “(4) vehicle number of the preceding vehicle” is different from the vehicle number of the host vehicle X registered in the number registration unit 17, the changing unit 16 includes “(4) preceding The “vehicle number of the vehicle” is registered together with the vehicle number originally registered in the number registration unit 17.

  The “(4) vehicle number of the preceding vehicle” registered in the number registration unit 17 specifies the communication data D transmitted by the host vehicle X based on the degree of coincidence of the speed change, This is the vehicle number of the host vehicle X recognized by the other vehicle by the camera 1. The changing unit 16 registers the number of coincidences in the number registering unit 17 together with “(4) the vehicle number of the preceding vehicle”. The number of coincidences is the number of times the communication data D transmitted by the host vehicle X is specified based on the degree of coincidence of speed changes. The number of times of coincidence increases at the timing when the subsequent vehicle and the host vehicle X are connected.

  Hereinafter, for convenience of explanation, the vehicle number originally registered in the number registration unit 17 is referred to as “(a) original vehicle number”. In addition, “(4) vehicle number of preceding vehicle” and “number of matches” registered in the number registration unit 17 together with “(a) original vehicle number” are changed to “(b) vehicle number and number of matches recognized by the camera”. "

  The change unit 16 changes the “(a) original vehicle number” to “(b) when the“ number of matches ”of“ (b) vehicle number and number of matches recognized by camera ”is equal to or greater than a predetermined number. Rewrite the vehicle number of “vehicle number recognized by camera and number of matches”. Then, the changing unit 16 resets (erase from the number registering unit 17) “(b) the vehicle number and number of matches recognized by the camera”.

  Note that “(4) vehicle number of the preceding vehicle” of the communication data specified based on the communication ID is recognized by the “(a) original vehicle number” and “(b) camera registered in the number registration unit 17. Vehicle number and number of matches ”. In this case, the changing unit 16 increments the information frame of “(b) vehicle number and number of matches recognized by camera” to “(b) camera for different“ (4) vehicle number of preceding vehicle ”. The vehicle number and the number of coincidences recognized in (1) may be further registered in the number registration unit 17. That is, the number registration unit 17 registers a plurality of “(b) vehicle number recognized by camera and number of coincidence” having different vehicle numbers.

  When transmitting the communication data D, the transmission unit 15 transmits “(a) original vehicle number” and “(a) original vehicle number” registered in the number registration unit 17 as “(2) vehicle number of communication data transmission source” of the communication data D. (B) The vehicle number recognized by the camera and the number of matches ”are transmitted to the surroundings. In addition, when a plurality of “(b) vehicle number and number of matches recognized by the camera” are registered in the number registration unit 17, the transmission unit 15 sets all “(b) vehicle numbers and matches recognized by the camera”. Number of times ".

  When the communication data D is transmitted from the own vehicle X, the other vehicles following the own vehicle X are “(a) the original vehicle number” and “(b) the vehicle number recognized by the camera” included in the communication data D. And the communication data D transmitted by the host vehicle X is specified using the “number of coincidence”. Specifically, the specifying unit 14 of another vehicle following the host vehicle X first compares “(a) the original vehicle number” included in the communication data with the vehicle number recognized by the number recognition unit 11. Based on the comparison result, the communication data D transmitted by the preceding vehicle (own vehicle X) is specified as in the embodiment.

  When the “(a) original vehicle number” included in the communication data and the vehicle number recognized by the number recognition unit 11 do not match, the specifying unit 14 of the other vehicle following the host vehicle X determines “(b) camera Is compared with the vehicle number recognized by the number recognition unit 11. And the specific | specification part 14 specifies the communication data D which the preceding vehicle (own vehicle X) transmitted similarly to embodiment based on a comparison result. When the communication data D includes a plurality of “(b) vehicle number and number of matches recognized by the camera”, the specifying unit 14 has “(b) vehicle recognized by the camera having a large number of matches”. The vehicle numbers recognized by the number recognition unit 11 are compared in order from “number”. When the communication data D transmitted by the host vehicle X can be identified, the other vehicle following the host vehicle X transmits the communication data to the surroundings as in the embodiment.

  In this modification, since the vehicle number is rewritten when the “number of matches” is equal to or greater than the predetermined number, the changing unit 16 rewrites the number registration unit 17 using the correctly recognized vehicle number. It can be performed.

(Third Modification)
A third modification of the embodiment will be described. As shown in FIG. 5, a preceding vehicle (another vehicle) X11 travels ahead of the host vehicle X10, and a succeeding vehicle (another vehicle) X12 travels behind the host vehicle X10. The host vehicle X10 transmits communication data D10 to the surroundings. The preceding vehicle X11 transmits the communication data D11 to the surroundings. The following vehicle X12 transmits the communication data D12 to the surroundings. The own vehicle X10, the preceding vehicle X11, and the subsequent vehicle X12 include the communication device 100A shown in FIG. Hereinafter, description will be made using the communication device 100A mounted on the host vehicle X10. In the description of the communication device 100A, the same components as those of the communication device 100 in the embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  A communication device 100A shown in FIG. 6 includes a camera (first detection sensor) 1A, a radar sensor (second detection sensor) 2A, a speed sensor 3, a communication device 4, and an ECU 10A. The camera 1A images the front and rear regions of the host vehicle X10. The radar sensor 2 detects the traveling state of other vehicles (preceding vehicle X11, following vehicle X12) traveling in front of and behind the host vehicle X10.

  The ECU 10A includes a number recognition unit (identification information recognition unit) 11A, a running state recognition unit 12A, a reception unit 13, a specification unit 14A, a transmission unit 15A, a change unit 16A, and a number registration unit (identification information registration unit) 17. Yes.

  The number recognition unit 11A recognizes the vehicle number of the preceding vehicle X11 that travels ahead of the host vehicle X10 and the vehicle number of the subsequent vehicle X12 that travels behind based on the imaging information of the camera 1A. The traveling state recognition unit 12A recognizes the traveling state of the preceding vehicle X11 traveling ahead of the host vehicle X10 and the vehicle state of the subsequent vehicle X12 traveling rearward based on the detection information of the radar sensor 2A.

Here, the following (1) to (4) are included in the communication data transmitted and received between the vehicles in the present modification.
(1) Communication ID of communication data transmission source
(2) Vehicle number of communication data transmission source (3) Speed of vehicle of communication data transmission source (4) Vehicle number of preceding vehicle and communication ID of preceding vehicle, vehicle number of following vehicle and communication ID of following vehicle
That is, “(4) the vehicle number of the preceding vehicle and the communication ID of the preceding vehicle, the vehicle number of the subsequent vehicle, and the communication ID of the subsequent vehicle” differ from the communication data in the embodiment.

  Similarly to the embodiment, the specifying unit 14A receives the vehicle number of the preceding vehicle X11 recognized by the number recognition unit 11A or the traveling state of the preceding vehicle X11 recognized by the traveling state recognition unit 12A and the receiving unit 13. Based on the communication data, the communication data D11 transmitted by the preceding vehicle X11 is specified. Here, the specifying unit 14A specifies the communication data D11 transmitted by the preceding vehicle X11, but specifies the communication data D12 transmitted by the subsequent vehicle X12 by the same method. Specifically, the specifying unit 14A includes the vehicle number of the subsequent vehicle X12 recognized by the number recognition unit 11A or the traveling state of the subsequent vehicle X12 recognized by the traveling state recognition unit 12A and the communication received by the receiving unit 13. Based on the data, the communication data D12 transmitted by the following vehicle X12 is specified.

  The transmission unit 15A transmits the communication data D10 including “(4) the vehicle number of the preceding vehicle and the communication ID of the preceding vehicle, the vehicle number of the subsequent vehicle and the communication ID of the subsequent vehicle” described above to the surroundings of the host vehicle X10.

  Similarly to the embodiment, the changing unit 16A rewrites the vehicle number registered in the number registering unit 17 based on the communication data D12 transmitted from the following vehicle X12. Here, the changing unit 16A rewrites the vehicle number based on the communication data D12 transmitted from the following vehicle X12. However, the number registering unit 17 based on the communication data D11 transmitted by the preceding vehicle X11 by the same method. Rewrite the vehicle number registered in. Specifically, the changing unit 16A determines that the preceding vehicle X11 is in response to the own vehicle X10 based on “(4) Communication ID of the following vehicle” included in the communication data among the communication data received by the receiving unit 13. The transmitted communication data D11 is specified. The change unit 16A determines that the vehicle number registered in the number registration unit 17 is different from the vehicle number registered in the number registration unit 17 in “(4) vehicle number of the following vehicle” included in the identified communication data D11. Rewrite.

  In the present modification, the vehicle number can be rewritten by any of the communication data transmitted from the preceding vehicle and the communication data transmitted from the subsequent vehicle, so that the vehicle number can be quickly rewritten to the correct vehicle number.

  When rewriting the vehicle number in the third modification, the communication data including the same “(4) vehicle number of the preceding vehicle” or the same “(4) vehicle number of the following vehicle” is used as in the first modification. The vehicle number may be rewritten when the included communication data is received a predetermined number of times or more. Further, when the vehicle number is rewritten in the third modified example, the vehicle number may be rewritten when the “number of matches” is equal to or greater than a predetermined number, as in the second modified example.

  In the third modification, the vehicle number is rewritten based on one communication data of the communication data transmitted from the preceding vehicle and the communication data transmitted from the subsequent vehicle. Rewriting may be performed. Specifically, when the changing unit 16A of the host vehicle X10 rewrites the vehicle number, “(4) vehicle number of the following vehicle” of the communication data D11 transmitted from the preceding vehicle X11 and the communication transmitted from the following vehicle X12. The vehicle number may be rewritten when “(4) the vehicle number of the preceding vehicle” in the data D12 matches.

  As mentioned above, although embodiment and each modification of this invention were described, this invention is not limited to the said embodiment and each modification. For example, in the embodiment and the like, the vehicle number and speed of the preceding vehicle ahead of the host vehicle are recognized by the camera 1 and the radar sensor 2, but the vehicle number and speed are not limited to the preceding vehicle ahead, and other vehicles around the host vehicle are recognized. It is good also as an object of.

  The traveling state recognition units 12 and 12A recognize the traveling state of the other vehicle based on the detection results of the radar sensors 2 and 2A, but recognize the traveling state of the other vehicle based on the imaging information captured by the cameras 1 and 1A. May be. In this case, the traveling state recognition units 12 and 12A can recognize the traveling state based on the imaging information based on, for example, a known image recognition process.

  In the above-described embodiment and the like, the communication data transmitted by the other vehicle is specified using the vehicle number, but unique identification information other than the vehicle number may be used as long as the vehicles are identified.

  DESCRIPTION OF SYMBOLS 1, 1A ... Camera (1st detection sensor), 2, 2A ... Radar sensor (2nd detection sensor), 11, 11A ... Number recognition part (identification information recognition part), 12, 12A ... Running condition recognition part, 13 ... Receiving unit 14, 14A ... identification unit, 15, 15A ... transmission unit, 17 ... number registration unit (identification information registration unit), D, D1, D2, D10, D11, D12 ... communication data, X, X10 ... own vehicle , X1 ... first other vehicle (other vehicle), X11 ... preceding vehicle (other vehicle).

Claims (1)

A first detection sensor for detecting unique identification information installed in another vehicle around the host vehicle;
An identification information recognition unit for recognizing the unique identification information of the other vehicle based on a detection result of the first detection sensor;
A second detection sensor for detecting a traveling state of the other vehicle;
A traveling state recognition unit that recognizes a traveling state of the other vehicle based on a detection result of the second detection sensor;
A receiving unit for receiving communication data transmitted from the other vehicle;
A specifying unit that identifies the communication data transmitted by the other vehicle based on the unique identification information recognized by the identification information recognition unit or the running state recognized by the running state recognition unit;
A transmission unit that transmits the unique identification information recognized by the identification information recognition unit to the other vehicle;
With
The communication data includes the unique identification information registered in advance in the identification information registration unit mounted on the other vehicle, and the traveling state of the other vehicle,
The specific part is:
When the unique identification information included in the communication data matches the unique identification information of the other vehicle recognized by the identification information recognition unit, the communication data with the matching unique identification information is recognized as the identification information recognition. Identifying the communication data transmitted from the other vehicle in which the unique identification information is recognized by the unit,
When the unique identification information included in the communication data does not match the unique identification information of the other vehicle recognized by the identification information recognition unit, the running state of the other vehicle recognized by the running state recognition unit The communication data in which the running state included in the communication data coincides with a predetermined degree of coincidence with the communication data transmitted from the other vehicle whose running state is recognized by the running state recognition unit And
When the communication data transmitted from the other vehicle is specified based on the degree of coincidence of the traveling state in the specifying unit, the transmitting unit is configured to identify the identification information with respect to the other vehicle that is the transmission source of the communication data. A communication device that transmits the unique identification information recognized by a recognition unit.

Images